Applications of digital signal processing to audio and acoustics

THE KLUWER INTERNATIONAL SERIES IN ENGINEERING AND COMPUTER SCIENCE APPLICATIONS OF DIGITAL SIGNAL PROCESSING TO AUDIO AND ACOUSTICS edited by Mark Kahrs Rutgers University Piscataway, New Jersey, USA Karlheinz Brandenburg Fraunhofer Institut Integrierte Schaltungen Erlangen, Germany KLUWER ACADEMIC PUBLISHERS N E W Y O R K , B O S T O N , D O R D R E C H T, LONDON , MOSCOW eBook ISBN: 0-3064-7042-X Print ISBN 0-7923-8130-0 ©2002 Kluwer Academic Publishers New York, Boston, Dordrecht, London, Moscow All rights reserved No part of this eBook may be reproduced or transmitted in any form or by any means, electronic, mechanical, recording, or otherwise, without written consent from the Publisher Created in the United States of America Visit Kluwer Online at: and Kluwer's eBookstore at: http://www.kluweronline.com http://www.ebooks.kluweronline.com This page intentionally left blank Contents List of Figures xiii List of Tables xxi Contributing Authors xxiii Introduction xxix Karlheinz Brandenburg and Mark Kahrs Audio quality determination based on perceptual measurement techniques John G Beerends 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 Introduction Basic measuring philosophy Subjective versus objective perceptual testing Psychoacoustic fundamentals of calculating the internal sound representation Computation of the internal sound representation The perceptual audio quality measure (PAQM) Validation of the PAQM on speech and music codec databases Cognitive effects in judging audio quality ITU Standardization 1.9.1 ITU-T, speech quality 1.9.2 ITU-R, audio quality 10 Conclusions Perceptual Coding of High Quality Digital Audio 13 17 20 22 29 30 35 37 39 Karlheinz Brandenburg 2.1 Introduction 39 vi APPLICATIONS OF DSP TO AUDIO AND ACOUSTICS 2.2 2.3 2.4 2.5 2.6 2.7 Some Facts about Psychoacoustics 2.2.1 Masking in the Frequency Domain 2.2.2 Masking in the Time Domain 2.2.3 Variability between listeners Basic ideas of perceptual coding 2.3.1 Basic block diagram 2.3.2 Additional coding tools 2.3.3 Perceptual Entropy Description of coding tools 2.4.1 Filter banks 2.4.2 Perceptual models 2.4.3 Quantization and coding 2.4.4 Joint stereo coding 2.4.5 Prediction 2.4.6 Multi-channel: to matrix or not to matrix Applying the basic techniques: real coding systems 2.5.1 Pointers to early systems (no detailed description) 2.5.2 MPEG Audio 2.5.3 MPEG-2 Advanced Audio Coding (MPEG-2 AAC) 2.5.4 MPEG-4 Audio Current Research Topics Conclusions Reverberation Algorithms 42 42 44 45 47 48 49 50 50 50 59 63 68 72 73 74 74 75 79 81 82 83 85 William G Gardner 3.1 3.2 3.3 3.4 3.5 Introduction 3.1.1 Reverberation as a linear filter 3.1.2 Approaches to reverberation algorithms Physical and Perceptual Background 3.2.1 Measurement of reverberation 3.2.2 Early reverberation 3.2.3 Perceptual effects of early echoes 3.2.4 Reverberation time 3.2.5 Modal description of reverberation 3.2.6 Statistical model for reverberation 3.2.7 Subjective and objective measures of late reverberation 3.2.8 Summary of framework Modeling Early Reverberation Comb and Allpass Reverberators 3.4.1 Schroeder’s reverberator 3.4.2 The parallel comb filter 3.4.3 Modal density and echo density 3.4.4 Producing uncorrelated outputs 3.4.5 Moorer’s reverberator 3.4.6 Allpass reverberators Feedback Delay Networks 85 86 87 88 89 90 93 94 95 97 98 100 100 105 105 108 109 111 112 113 116 Contents 3.6 3.5.1 Jot’s reverberator 3.5.2 Unitary feedback loops 3.5.3 Absorptive delays 3.5.4 Waveguide reverberators 3.5.5 Lossless prototype structures 3.5.6 Implementation of absorptive and correction filters 3.5.7 Multirate algorithms 3.5.8 Time-varying algorithms Conclusions Digital Audio Restoration vii 119 121 122 123 125 128 128 129 130 133 Simon Godsill, Peter Rayner and Olivier Cappé 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 Introduction Modelling of audio signals Click Removal 4.3.1 Modelling of clicks 4.3.2 Detection 4.3.3 Replacement of corrupted samples 4.3.4 Statistical methods for the treatment of clicks Correlated Noise Pulse Removal Background noise reduction 4.5.1 Background noise reduction by short-time spectral attenuation 4.5.2 Discussion Pitch variation defects 4.6.1 Frequency domain estimation Reduction of Non-linear Amplitude Distortion 4.7.1 Distortion Modelling 4.7.2 Non-linear Signal Models 4.7.3 Application of Non-linear models to Distortion Reduction 4.7.4 Parameter Estimation 4.7.5 Examples 4.7.6 Discussion Other areas Conclusion and Future Trends Digital Audio System Architecture 134 135 137 137 141 144 152 155 163 164 177 177 179 182 183 184 186 188 190 190 192 193 195 Mark Kahrs 5.1 5.2 5.3 Introduction Input/Output 5.2.1 Analog/Digital Conversion 5.2.2 Sampling clocks Processing 5.3.1 Requirements 5.3.2 Processing 5.3.3 Synthesis 195 196 196 202 203 204 207 208 viii APPLICATIONS OF DSP TO AUDIO AND ACOUSTICS 5.4 5.3.4 Processors Conclusion Signal Processing for Hearing Aids 209 234 235 James M Kates 6.1 6.2 Introduction Hearing and Hearing Loss 6.2.1 Outer and Middle Ear 6.3 Inner Ear 6.3.1 Retrocochlear and Central Losses 6.3.2 Summary 6.4 Linear Amplification 6.4.1 System Description 6.4.2 Dynamic Range 6.4.3 Distortion 6.4.4 Bandwidth Feedback Cancellation 6.5 6.6 Compression Amplification 6.6.1 Single-Channel Compression 6.6.2 Two-Channel Compression 6.6.3 Multi-Channel Compression 6.7 Single-Microphone Noise Suppression 6.7.Adaptive Analog Filters 6.7.2 Spectral Subtraction 6.7.3 Spectral Enhancement Multi-Microphone Noise Suppression 6.8 6.8.1 Directional Microphone Elements 6.8.2 Two-Microphone Adaptive Noise Cancellation 6.8.3 Arrays with Time-Invariant Weights 6.8.4 Two-Microphone Adaptive Arrays 6.8.5 Multi-Microphone Adaptive Arrays 6.8.6 Performance Comparison in a Real Room 6.9 Cochlear Implants 6.10 Conclusions Time and Pitch scale modification of audio signals 236 237 238 239 247 248 248 249 251 252 253 253 255 256 260 261 263 263 264 266 267 267 268 269 269 271 273 275 276 279 Jean Laroche 7.1 7.2 7.3 7.4 Introduction Notations and definitions 7.2.1 An underlying sinusoidal model for signals 7.2.2 A definition of time-scale and pitch-scale modification Frequency-domain techniques 7.3.1 Methods based on the short-time Fourier transform 7.3.2 Methods based on a signal model Time-domain techniques 279 282 282 282 285 285 293 293 Contents 7.5 7.6 7.4.1 Principle 7.4.2 Pitch independent methods 7.4.3 Periodicity-driven methods Formant modification 7.5.1 Time-domain techniques 7.5.2 Frequency-domain techniques Discussion 7.6.1 Generic problems associated with time or pitch scaling 7.6.2 Time-domain vs frequency-domain techniques Wavetable Sampling Synthesis ix 293 294 298 302 302 302 303 303 308 311 Dana C Massie 8.1 Background and introduction 8.1.1 Transition to Digital 8.1.2 Flourishing of Digital Synthesis Methods 8.1.3 Metrics: The Sampling - Synthesis Continuum 8.1.4 Sampling vs Synthesis Wavetable Sampling Synthesis 8.2.1 Playback of digitized musical instrument events 8.2.2 Entire note - not single period 8.2.3 Pitch Shifting Technologies 8.2.4 Looping of sustain 8.2.5 Multi-sampling 8.2.6 Enveloping 8.2.7 Filtering 8.2.8 Amplitude variations as a function of velocity 8.2.9 Mixing or summation of channels 8.2.10 Multiplexed wavetables Conclusion 311 312 313 314 315 318 318 318 319 331 337 338 338 339 339 340 341 Audio Signal Processing Based on Sinusoidal Analysis/Synthesis 343 8.2 8.3 T.F Quatieri and R J McAulay 9.1 9.2 9.3 9.4 Introduction Filter Bank Analysis/Synthesis 9.2.1 Additive Synthesis 9.2.2 Phase Vocoder 9.2.3 Motivation for a Sine-Wave Analysis/Synthesis Sinusoidal-Based Analysis/Synthesis 9.3.1 Model 9.3.2 Estimation of Model Parameters 9.3.3 Frame-to-Frame Peak Matching 9.3.4 Synthesis 9.3.5 Experimental Results 9.3.6 Applications of the Baseline System 9.3.7 Time-Frequency Resolution Source/Filter Phase Model 344 346 346 347 350 351 352 352 355 355 358 362 364 366 524 APPLICATIONS OF DSP TO AUDIO AND ACOUSTICS [Skinner, 1980] Skinner, M (1980) 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(in German) [Zwicker and Zwicker, 1991] Zwicker, E and Zwicker, U T (1991) Audio engineering and psychoacoustics: Matching signals to the final receiver, the human auditory system J Audio Eng Soc., 39(3):115–126 Index 4A, 213 4B, 213 4C, 214 4X, 215 A/D Fixed point, 197 Flash, 198 counter (servo), 198 floating point, 201 integration, 198 AAC (See Advanced Audio Coding) ACR (See Absolute Category Rating) ADC (Analog to Digital Converter), 196 AGC (Automatic Gain Control), 255 AGC, 380 hearing aid, 256 input, 257 output, 257 AMD 2901, 203, 216 AR (See Autoregressive) ARMA (See Autoregressive moving average) ASP, 203, 217 ATC (See Adaptive Transform Coding) AT&T DSP-16, 221, 229 DSP-32, 222, 228 DSP-32C, 222 DSP3, 232 Absolute Category Rating (ACR), Absorptive filter, 102–103, 113, 116, 119, 122, 127–128, 130 Adaptive block switching, 58 Adaptive filter bank, 58 Adaptive high-pass filters, 263 Adaptive noise cancellation, 268 Adaptive parameter estimation, 136 Adaptive phase smoothing sine-wave analysis/synthesis, 380 Adaptive processing, 136 Addition rule in masking, 13 Additive synthesis, 346 Additivity of masking, 44 Advanced Audio Coding, 79 Akaike’s Information Criterion (AIC), 189 Alias reduction, 57 All-pole model, 135 All-pole spectral modeling sine-wave residual, 388 Allen Organ Company, 319 Allpass feedback loop, 114, 116 Allpass filter, 105, 107-108, 111, 113–l16, 121, 452 lattice, 114 Allpass filters, 105 Allpass interpolation, 452 Alpha parameters, 448 Amplifier saturation, 251–252 Amplifier class-B, 252 class-D, 252 Analog Devices 2100, 221 21000, 223 SHARC, 223 Analog synthesizers, 312 Analogue restoration (See Restoration) Analysis-by-synthesis, 65 Analysis/synthesis filterbank, 347 536 APPLICATIONS OF DSP TO AUDIO AND ACOUSTICS Analysis/synthesis, 51 Analytic signal definition, 409 Anti-aliasing filter, 196, 200 Array misalignment, 270 Articulation Index, 264 Articulatory speech synthesis, 419 Asymmetry of masking, 17 Attack time ANSI, 260 compression, 255 Attack, 319, 322 Audio codec quality, 37 Audio quality, 1–2 Audio restoration (See Restoration) Auditory scene analysis, 24, 26 Auditory system, 8, 10, 16 Auralization, 87 Automatic gain control, 255 Autoregressive (AR) model, 135, 142, 159, 164 Autoregressive (AR) model, Interpolation (See Restoration,Interpolation) Excitation energy, 148 Model order, 136 Autoregressive Memoryless non-linearity (AR-MNL), 187 Autoregressive moving average (ARMA) model, 135, 164 Autoregressive non-linear AR model (AR-NAR), 188 BC coding (Backward Compatible), 77 Background noise, Bandwidth hearing aid, 253 Bar vibrations, 451 Bark, 11, 14, 16, 19, 26, 37, 42 Basilar membrane, 240 Bayes’ rule, 153 Bayesian methods (See Restoration) Bernoulli model, 140 Big values, 65 Binaural impulse response, 86 Binaural processing, 36 Bit allocation, 63 MPEG-1, 76 Bit reservoir, 67 Bit-reversal, 207 Blind identification, 184 Block companding, 64 Block convolution, 101 Block floating point, 64 Block-based processing, 136 Bowed strings bow force, 464 bow-string interaction, 463 friction force, 465 scattering formulation, 464 waveguide synthesis, 462 Breakages (See Restoration) Breathiness example, 344 Buchla, 312 CDC 6000, 210 COPAS, 217 Caruso, 134 Cepstral distance, 30 Chaos measure, 61 Characteristic impedance, 433 Chipmunk effect, 322 Cholesky decomposition, 148 Chorusing, 298, 303 Circulant matrix, 126 Clarinet synthesis, 455 Clarity index, 98 Clicks (See Restoration) Clipping, 340 Cochlea, 239–240, 259 Cochlear implants, 275 Cochlear partition, 240 Coding, 63 Cognitive modelling, 1, 7–8, 17, 22, 26, 29, 31, 37 Coherence function, 30 Coherence, 252 Comb filter, 105, 107–111, 113, 118, 121, 126–127, 394 adaptive, 266 Commutativity simplifications, 450 Compatibility matrix, 73 Compression ratio, 255–256, 258 auditory, 243, 259 Compression rule, 14 Compression threshold, 255–256 Compression, 10 auditory, 243 cochlear model based, 263 feedforward, 257 hearing aid, 255 loudness-based, 262 multi-channel, 261 polynomial, 262 principle component, 262 single-channel, 256 INDEX slow-acting, 262 syllabic, 257, 261 two-channel, 260, 263 two-stage, 261 lossy model-based, 418 Consonant-vowel ratio, 258 Continuously interleaved sampling, 276 Converter Analog-Digital, 196 Digital-Analog, 196 floating-point, 201 oversampling, 199–200 successive approximation, 198 Correction filter, 123, 128 Correlation matrix array, 272 Cosine-modulated filter banks, 56 Coupling channel, 72 Critical band, 42 Cross-correlation, 156 Cross-over distortion, 183 Crossbar, 222, 228, 231–232 Crossfade loop, 334 D’Alembert, 426 DAC (Digital to Analog Converter), 196 DCR (See Degradation Category Rating) DCT (Discrete Consine Transform), 53 DCT (Discrete Cosine Transform), 79, 205 DFT (Discrete Fourier Transform), 53, 179, 206, 347, 353 DI (Disturbance Index), 35 DRC (Dynamic Range Compression), 380 DSP.*, 228 DX-7, 224 Data compression, 280 Deconvolution, 89 Degradation Category Rating (DCR), Delay-and-sum beamforming, 269, 274 Detection of clicks (See Detection) Detection, 141 Probability of error, 141 Bayesian, 154 Clicks, 141, 144 False Alarms, 140 False detection, 143 High-pass filter, 141 Matched filter, 143 Maximum a posteriori, 153 Missed detection, 140 Model-based, 142 537 Sequential, 153 Threshold selection, 141, 143 Deterministic plus stochastic signal model, 386 time-scale modification, 391 Differentiation filters, 431 Digital Audio Broadcasting, 40 Digital waveguide network (DWN), 123, 125 Discrete Fourier Transform (DFT), 149 Model for interpolation, 152 Dispersion, 451 Distortion harmonic, 252 hearing aid, 259 intermodulation, 252 peak-related, 137 Dither, 199 subtractive, 199 triangular, 199 nonsubtractive, 199 Downmix, 73 Drop sample tuning, 322 Dynamic Range Compression, 380 Dynamic range compression, 255 sine-wave analysis/synthesis, 379 Dynamic range hearing aid, 251–252 E-mu, 320, 338, 340 ECL (See Emitter Coupled Logic) ESC (escape) coding, 66 ETSI (European Telecommunications Standards Institute), 21, 25, 29 speech codec quality, 21 Ear canal, 238, 250 Ear drum, 238 Ear, 238 inner, 238 outer, 238 Early decay time (EDT), 99 Echo density, l00–101, 107, 109–111, 113–114, 125–127 Embouchure modeling, 457, 461 Emitter Coupled Logic, 203 Emulator, 340 Energy decay curve (EDC), 94 Energy decay relief (EDR), 95, 99–100, 130 Enhancement ( See Restoration) Ensoniq ESP2, 226 Error power feedback, 443 Error resilience, 41 Excitation waveform 538 APPLICATIONS OF DSP TO AUDIO AND ACOUSTICS sine-wave model, 367 sine-wave phase, 367 sine-wave/pitch onset time, 368 Excitation, Expectation-maximize (EM), 154, 194 Expert pattern recognition, 31 Expressivity, 314 FFT (See Fast Fourier Transform) FM signal model Bessel function representation, 404 FM synthesis, 403–404 model parameter estimation, 409 musical sound, 407 nested modulation, 410 time-varying spectra, 405 FRMBox, 210, 223, 228 Fairlight Computer Music Instrument, 320, 340 Fast Fourier Transform (FFT), 14, 16, 101, 127, 205–206 Feedback cancellation, 254 Feedback delay network (FDN), 119–121, 123, 125-127 Feedback hearing aid, 249–250, 253 Fettweis, 421 Film sound tracks (See Sound recordings) Filter bank, 50 time-scale modification with phase coherence, 384 Filter design Hankel norm, 453 differentiators, 431 equation error, 453 group delay error, 454 integrators, 431 phase error, 453 Finite differences, 424, 430 Finite impulse response (FIR) filter, 87, 101–102, 128 Flutter (See Restoration) Flutter, 177 Force waves, 432 Formant, 302, 322 speech, 245 Forward masking auditory, 246 Fourier transform, 285 Frame size (Layer 1, 2), 76 Frequency domain smearing, 9, 13 Frequency modulation, 178, 315 Frequency response envelope, 95, 100, 119, 123 G.729 speech codec, 34 GSM (Global System for Mobile communications), 21, 25, 29 GSM speech codecs, 21 Gap detection auditory, 243 Gaussian, 159 Gibbs Sampler, 149 Global degradation, 135 Glottal pulses, 245 Golden ear, Gramophone disc recordings (See Sound recordings) Grifiths-Jim array, 269–270, 272 Groove deformation, 183 Hair cells, 240, 243, 245, 259 Hammond organs, 336 Hankel norm, 453 Hanning window, 14, 16 Harmonicity, 315 Head-related transfer function (HRTF), 92, 102-103 Hearing aid acoustics, 251 Hearing aid cosmetics, 237 Hearing aid behind-the-ear, 249 in-the-ear, 249 linear, 248, 251 Hearing impairment, 236 Hearing loss, 236–237, 243, 247 central, 247 conductive, 239 retrocochlear, 247 simulated, 245 High-pass filter (See Detection) High-pass filter, 156, 160 Hilbert transform definition, 409 Householder matrix, 125 Huffman coding, 65 Hybrid filter bank, 56 Hyperparameters, 182 IIR Filter (See Infinite Impulse Response Filter) IRCAM 4B, 213 4c, 214 4X, 215 ISPW, 232 IRIS X-20, 225 ... Computer Architecture, Digital Signal Processing and Audio Engineering In 1993 he was General Chair of the IEEE Workshop on Applications of Signal Processing to Audio and Acoustics (“Mohonk Workshop”)... number of chapters devoted to the digital manipulation of music signals Digitally generated reverb was one of the first application areas of digital signal processing to high quality audio signals... xxviii APPLICATIONS OF DSP TO AUDIO AND ACOUSTICS in 1978 and 1983, respectively His Ph.D research involved the application of digital signal processing and system identification techniques to the